CN102077514A - Method for detecting a faulty node - Google Patents
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- CN102077514A CN102077514A CN2009801247070A CN200980124707A CN102077514A CN 102077514 A CN102077514 A CN 102077514A CN 2009801247070 A CN2009801247070 A CN 2009801247070A CN 200980124707 A CN200980124707 A CN 200980124707A CN 102077514 A CN102077514 A CN 102077514A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0677—Localisation of faults
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/40—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass for recovering from a failure of a protocol instance or entity, e.g. service redundancy protocols, protocol state redundancy or protocol service redirection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40019—Details regarding a bus master
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/4028—Bus for use in transportation systems the transportation system being an aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/16—Threshold monitoring
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Abstract
The invention relates to a method for detecting a faulty node (2), which is connected to a bus (3), wherein in a normal operating mode the node (2) incrementally increases an internal fault counter (FZ) upon detection of a fault, and wherein the node (2) switches into an isolated operating mode in which the node (2) does not exchange messages via the bus (3) if the internal fault counter (FZ) of the node (2) has exceeded a predetermined fault threshold. According to the invention, the node (2) switches from the isolated operating mode into the normal operating mode when a condition is met and this mode change is detected, and the node (2) is recognized as being faulty if a rate of the detected mode changes has exceeded a settable switch rate or a number of the detected mode changes has exceeded a settable mode change threshold.
Description
Technical field
The present invention relates to the method that a kind of detection is connected to the defective node of bus, specifically is the method that a kind of detection is connected to the defective node of CAN bus.
Background technology
DE 39 28 537 A1 have described wrong method in a kind of detection or the locator data transmission.Detect the defective node that is connected with bus.When detecting mistake, the internal error counter can increase under normal operating state.If the error counter of node exceeds predetermined error thresholds, then node switches to the isolated operation state, and under the isolated operation state, node can be via any message of bus switch.When condition satisfied, node switched to normal operating state from the isolated operation state.
DE 10 2,007 004 701 has described a kind of method that is used to operate the blender of heater, wherein state is changed and estimates.
(CAN: node controller local area network) or participant's CAN bus communicate with one another according to the CAN bus protocol.The CAN bus is to be used for asynchronous serial bus system that control appliance is networked.The participant who is connected or the number of node depend on employed bus driver module.
The CAN bus is many instigator's energy
, that is to say that each of bus system independently node can both be initiated communication.The CAN bus is used access technique CSMA/CD+CR (Carrier Sense Multiple Access/collision detection+conflict is resolved).Bus access is by means of realizing with the arbitration that is identified as the basis via the message of bus transfer.Communication between the node is realized by message that also is called frame or text.In the CAN bus, can transmit four kinds of dissimilar frames or message.Except that being used to transmit the data message of message, also between so-called remote frame, overload frame and erroneous frame, distinguish.Remote frame or remote message are used for from another participant or node request data frame.The overload frame pauses as the pressure between Frame and the remote frame.Erroneous frame is signaled and detect wrong node during transfer of data.
Node or CAN controller can detect mistake during the transmission.For example, can the detecting position mistake, the position fills the format error in (stuffing) mistake, crc error, the text and replys mistake.If node detection is to one of these mistakes, then this node is notified the transmission person of all the other nodes and the text or the message of bus system in the mode of this node transmission erroneous frame.After receiving erroneous frame, the message that all participants or node evaluation are received, and also begin to send erroneous frame.
The defective message may cause by the external interrupt source of bus system outside or by CAN participant's fault.The defective node that avoids correctly being received message in order to ensure whole network or whole bus system blocks, execution algorithm in each node of bus system or each CAN controller, by means of this algorithm, node is progressively recalled from bus activity under the situation that mistake takes place.If CAN controller or node detection are first network participants or the node that sends erroneous frame to it, then this CAN controller or node increase internal error counter TEC (transmission error counter).As long as the value of error counter keeps below threshold value, then the CAN controller sends erroneous frame under the situation that mistake takes place.The threshold value of error counter for example is 127.This operator scheme is the normal operating state of node, and is also referred to as wrong initiatively (Error-Active) mode of operation.If the value of error counter TEC is higher than threshold value 127, then the CAN controller switches to so-called mistake passive (Error-Passiv) operator scheme.Under this operator scheme, the CAN controller sends 6 bit-errors frames with recessive signal level.When error counter TEC had reached 255 state, the CAN controller was switched to so-called bus and cuts out (Bus-off) mode of operation, and no longer participated in communication via the CAN bus.Under the bus shutdown mode of operation, node is in the isolated operation state, and under the isolated operation state, node can be via any message of bus switch.Because error counter at first detects under the wrong situation at another participant or node and is reduced, so the CAN controller can discharge himself from wrong Passive Mode.
Fig. 1 is used to illustrate the state diagram that traditional C AN controller is unusually interior or fault processing is operated.The CAN controller has two counters, i.e. TEC counter (TEC: send error counter) and REC counter (REC: the count of receive error device).The CAN node sends and receives message or text, and this node carries out the correctness verification to message or text.Under the situation about making a mistake in the message of transmission, internal counter TEC also counts the number of detected mistake, makes node can continue the state shown in Fig. 1.If node is in isolated operation state (bus is closed), then this node can not participate in communication before the condition that switches to normal operating state (mistake initiatively) satisfies.This condition relates to and continuous recessive position for example occurs on data/address bus.
The fault processing (mistake tackles) of the CAN bus data host-host protocol shown in Fig. 1 guarantees to take place the communication of minimum.Fault processing is guaranteed communicating by letter of functional CAN bus and one or more defective nodes.
Yet the fault processing according to prior art shown in Fig. 1 has many shortcomings.As can be seen from Figure 1, the defective node of bus system or defective participant can be interrupted under the situation of its defective behavior reaching the considerable time section via the communication of bus not writing down or indicate.Under the situation of traditional fault processing, neither can estimate incorrect frequency, can not carry out qualitative estimation with its possible result to the mistake that takes place yet.Regular defective node may not have to pass under the in good time detected situation three modes of operation shown in Fig. 1 in its defective behavior.Owing to do not estimate, so this node can be by the replacement of selectivity yet at regular defective CAN bus node execution error.Owing to can not detect regular defective CAN node immediately, therefore particularly in the application of fail safe strictness, need the redundant node that provides extra.If the CAN bus is positioned at vehicle interior, then the total weight of delivery vehicle is owing to the redundant node of additional number increases.The total weight that increases can cause the fuel consumption of delivery vehicle to increase.The defective behavior that continues of CAN bus may further cause equipment fault, and reduces the availability of respective bus system.
Summary of the invention
Therefore, the object of the present invention is to provide a kind of method of defective node of in good time testbus.
According to the present invention, this purpose realizes by the method with feature of listing in the claim 1.
The invention provides the method that a kind of detection is connected to the defective node of bus,
When detecting mistake, this node increases the internal error counter under normal operating state,
If the described internal error counter of described node exceeds predetermined error thresholds, then described node switches to the isolated operation state, described node under this isolated operation state not via any message of described bus switch,
Described node switches to described normal operating state from described isolated operation state when condition satisfies, and this state changes and be detected, and
If the speed that detected state changes exceeds adjustable change speed or a plurality of detected state change exceeds state change threshold value, described node is detected as defectiveness.
In according to one embodiment of the method for the invention, if the state that detects from described isolated operation state to described normal operating state changes, then the increase state changes counter.
In according to one embodiment of the method for the invention, in each node, provide state to change counter.
In the substitutability embodiment of the method according to this invention, in host node,, each node changes counter for providing relevant state.
In according to one embodiment of the method for the invention, node comes to change to the state of described host node indication from described isolated operation state to described normal operating state by means of the message that sends via described bus or by means of the communication channel of separating with described bus.
In according to one embodiment of the method for the invention, when detecting mistake during via described bus transfer message, described node is via described bus transfer error message.
The present invention further provides a kind of node that is used for bus, described node has the internal error counter that increases when detecting mistake, if described internal error counter exceeds predetermined counter threshold, the described node that then is in normal operating state switches to the isolated operation state, described node under this isolated operation state not via any message of bus switch
When condition satisfies, described node switches from described isolated operation state gets back to described normal operating state, the state that provides changes counter, it is relevant with described node that described state changes counter, and changing to from described isolated operation state whenever the state of described node increases described state under the situation of described normal operating state and changes counter
Exceed adjustable state change threshold value if described relevant state changes counter, then described node is detected as defectiveness.
In an embodiment according to node of the present invention, it is integrated in described node that described state changes counter.
In the substitutability embodiment according to node of the present invention, described state changes that counter is integrated to be connected in the host node of described node via described bus.
In an embodiment according to node of the present invention, described node is the CAN node that is connected to the CAN bus of installing in vehicle interior.
In an embodiment according to node of the present invention, described delivery vehicle is an aircraft.
The present invention further provides a kind of computer program, has the program command that is used to carry out the method that detects the defective node that is connected to bus, when detecting mistake, the described node that is in normal operating state increases the internal error counter, if the described internal error counter of described node exceeds predetermined error thresholds, then described node switches to the isolated operation state, described node under this described isolated operation state not via any message of described bus switch
When condition satisfied, described node switched to described normal operating state from described isolated operation state, and this state changes and be detected, and
If the speed that detected state changes exceeds adjustable change speed or a plurality of detected state change exceeds adjustable state change threshold value, then described node is detected defectiveness.
The present invention further provides a kind of data medium, this data medium stores the computer program of the above-mentioned type.
Description of drawings
For essential feature of the present invention is described, the preferred embodiment of the method according to this invention is described below with reference to accompanying drawings and according to bus node of the present invention, in the accompanying drawing:
Fig. 1 is the state diagram that illustrates according to fault processing in the CAN bus of prior art;
Fig. 2 is the block diagram that illustrates according to the first embodiment fault processing of the method that is used for detecting the defective node of the present invention;
Fig. 3 is the block diagram that illustrates according to another embodiment fault processing of the method that is used for detecting the defective node of the present invention;
Fig. 4 is the block diagram that illustrates according to another embodiment fault processing of the method that is used for detecting the defective node of the present invention;
Fig. 5 is the state diagram that the method according to this invention is shown.
Embodiment
Fig. 2 illustrates the bus system 1 according to first embodiment of the invention.A plurality of node 2-1,2-1,2-3, [...] 2n are connected to common bus 3.Further be connected at least one host node 4 that also has of bus 3.Bus 3 for example can be a fieldbus, particularly is the CAN bus.Node 2-i is for example formed by the CAN controller.These CAN controllers can be integrated in any equipment.
As can be seen from Figure 2, each node has an internal error counter FZ.When node 2 was in normal operating state, the associated inner error counter FZ of this node increased when detecting mistake.Error detection can be carried out on various layers.For example, on the message layer, error detection is by means of CRC check of transmitting in message and (CRC: cyclic redundancy check (CRC)) implement.Error detection also can be provided on the physical transport layer.If via bus transfer information the time, detect mistake, then in a kind of possible embodiment, node 2 via bus 3 error of transmission messages (erroneous frame) and increase integrated error counter FZ.
If node 2 integrated error counter FZ exceed predetermined error thresholds, then node 2 switches to isolated operation state (bus is closed), under the isolated operation state, node 2 can be via bus 3 and any message of other node switching, as shown in Figure 5.In a kind of possible embodiment, error thresholds is scheduled to, and for example is 255 in the CAN bus.In substitutability embodiment, can adjust error thresholds.Can be adjusted into identical or different according to the threshold value of using different nodes.In another embodiment, the threshold value of the error counter FZ of different nodes 2 is adjusted via bus 2 by host node 4 in corresponding message is transferred to each node 2 from host node 4 mode.In another embodiment, the threshold value of error counter FZ can directly be adjusted via interface at each node 2 places.
After exceeding error thresholds, each node no longer participates in communication and is in the isolated operation state.Before the condition of the state-transition of (mistake initiatively) or change from the isolated operation state to normal operating state satisfied, the node 2 that is in isolated operation state (bus is closed) under can not participate in communicating by letter.Detection node or participant change or switch this state change of getting back to normal operating state from the isolated operation state in the method according to the invention.If defective node 2 repeatedly changes back to normal operating state from the isolated operation state, then this can detect in the method according to the invention.If reason node 2 structurally can not indicate this information maybe this information can not be forwarded to other node, then this also can by other node detection to.
In the method according to the invention, if the speed that detected state changes exceeds adjustable change speed, then node 2 is detected as defectiveness.In the substitutability embodiment of the method according to this invention, if exceeding adjustable state, the absolute number that detected state changes changes threshold value, then node 2 is detected as defectiveness.For this reason, in according to one embodiment of the method for the invention,, each node 2 to be monitored changes counter ZWZ for providing relevant state.This state changes counter ZWZ implementing like that in for example can embodiment as shown in Figure 2 in host node 4.As can be seen from Figure 2, host node 4 comprises a plurality of registers or counter mechanism, changes counter ZWZ for each node in N to be monitored in the bus system 1 node 2 all provides relevant state.Change to normal operating state if detect the state of node 2 from the isolated operation state, then the state of node 2 change counter ZWZ is increased.State changes the count value of counter ZWZ or BOC counter (BOC: bus is closed counter) and can be read and be estimated by the CPU or the microprocessor of host node 4 inside.For this reason, in a kind of possible embodiment, the CPU of host node 4 carries out corresponding error process computer program.In a kind of possible embodiment, node 2 comes to change to the state of host node 4 indications from the isolated operation state to normal operating state by the message that sends via bus 3.In a kind of possible embodiment, use message according to the bus message signal transfer protocol.For example, if bus 3 is the CAN bus, then node 2 generation that can come indicating status to change by means of the position in the CAN message or mark.When the state that detects changes, by node 2 position that is not provided with usually is set in message, and with the form of mark in host node 4 instructs node 2 the generation state change.
In the embodiment of substitutability,, but come indicating status to change by means of the message that sends via the communication channel 5 of separating not by means of the message that sends via bus 3.Fig. 3 illustrates node 2 via 5 embodiment that are connected to host node 4 that communicate to connect that separate with bus 3.Node 2 can via with the control line 5 of bus wires apart to the such fact of host node 4 indications: the state that has taken place in node 2 from the isolated operation state to normal operating state changes.The communication channel 5 of separating also can be another bus or fieldbus.In the embodiment shown in fig. 3, communication channel 5 is wired.In the embodiment of substitutability, it is wireless that communication channel 5 can also be implemented as.In this case, node 2 is via the message of wave point generation state change in host node 4 each nodes 2 of transmission expression.In Fig. 2 and embodiment shown in Figure 3, state changes counter ZWZ to be implemented in host node 4 and estimates in host node 4.
In the embodiment shown in fig. 4, the state of various nodes 2 change counter ZWZ implements in node 2.If state change counter ZWZ integrated in the node 2 exceeds adjustable state change threshold value, then this node 2 is detected as defectiveness.As shown in Figure 5, change threshold value up to exceeding state, node 2 just transmits corresponding message for example to notify the user attended operation about necessity in order via bus 3.In the embodiment shown in fig. 4, all nodes 2 have equal visit.
In the embodiment shown in fig. 4, node 2 can also be via indicating its state change threshold value to be exceeded with the communication channel of separating of bus 3 wires apart.In the embodiment of substitutability, node 2-i changes counter ZWZ via the wherein integrated state of wave point report and is exceeded.Signal via communication channel 5 transmission that separate can be digital, simulation or discrete.In a kind of possible embodiment, the various states changes of generation not only are counted, and are recorded the evaluation that is used for subsequently.Can come executive logging by the count value that changes counter ZWZ in the different time store status.For this reason, in a kind of possible embodiment, node 2-i has readable memory, and state changes count value and is recorded in the readable memory in time.In a kind of possible embodiment, the value of these records can be read out in the corresponding message switching via bus 3.Can replace among the substituting embodiment, the value of record is read out via the communication channel of separating.In another embodiment, the value of record is stored in the local data carrier that can remove from node 2.
If the transmission quality of node 2 deterioration, then its state change speed quickening owing to mistake.Therefore, the value of the state of the being responsible for change counter ZWZ of each node 2 also increases.Exceed the state change threshold value that disposes for node 2 if the state of node 2 changes counter ZWZ, host node 4 then shown in Figure 2 for example can transmit the maintenance information or the alarm message of indication defective node 2.This maintenance packet or information can be via Network Transmission to the remote maintenance servers.Network can be wired or wireless network.
Because the bus protocol mistake is by recording occurring continuously, the therefore clearly generation of identification error or the appearance of defective node 2.
The method according to this invention allow the source of trouble is not carried out functional limitations or not exclusively under the situation in closing fault source in bus system 1 the earlier detection source of trouble.As a result, although bus system 1 can report that continuation is operated in unrestriced mode under the vicious situation.In addition, can plan and carry out relevant maintaining operation in mode targetedly.
The earlier detection of possible defective node makes the number of redundant node 2 in the application can reduce the fail safe strictness.If bus system is provided in the delivery vehicle, then the weight of delivery vehicle can alleviate.
The earlier detection of defective CAN bus participant or node 2 and maintenance in early days or replacement make the availability of bus system 1 increase.As a result, can prevent the equipment fault that the defective behavior by node 1 causes.By means of the method according to this invention, under the situation that the defective behavior of equipment takes place, attended operation is greatly simplified and quickens.
Claims (12)
1. a detection is connected to the method for the defective node (2) of bus (3),
Wherein when detecting mistake, described node (2) increases internal error counter (FZ) under normal operating state,
If the described internal error counter (FZ) of wherein described node (2) exceeds predetermined error thresholds, then described node (2) switches to the isolated operation state, and described node (2) does not exchange any message via described bus (3) under this isolated operation state,
Wherein said node (2) switches to described normal operating state from described isolated operation state when condition satisfies, and this state changes and be detected, and
If the speed that wherein detected state changes exceeds adjustable change speed or a plurality of detected state change exceeds adjustable state change threshold value, then described node (2) is detected as defectiveness.
2. method according to claim 1 changes if wherein detect the state of described node (2) from described isolated operation state to described normal operating state, and then the increase state changes counter (ZWZ).
3. method according to claim 2 wherein provides state to change counter (ZWZ) in each node (2).
4. method according to claim 1 wherein changes counter (ZWZ) for each node (2) provides relevant state in host node (4).
5. method according to claim 4, wherein node (2) comes to change to the state of described host node (4) indication from described isolated operation state to described normal operating state by means of the message that sends via described bus (3) or by means of the communication channel (5) of separating with described bus (3).
6. method according to claim 1, wherein when detecting mistake during via described bus (3) message transmission, described node (2) is via described bus (3) error of transmission message.
7. node (2) that is used for bus (3), described node (2) has the internal error counter (FZ) that increases when detecting mistake,
If described internal error counter (FZ) exceeds predetermined error thresholds, then described node (2) switches to the isolated operation state from normal operating state,
When condition satisfied, described node (2) switches from described isolated operation state got back to described normal operating state,
It is characterized in that providing state and change counter (ZWZ), it is relevant with described node (2) that described state changes counter (ZWZ), and changing to from described isolated operation state whenever the state of described node (2) increases described state under the situation of described normal operating state and changes counter (ZWZ)
Exceed adjustable state change threshold value if described relevant state changes counter (ZWZ), then described node (2) is detected as defectiveness.
8. node according to claim 7, wherein said state change counter (ZWZ) is integrated in the described node (2) or is integrated in via described bus (3) and is connected in the host node (4) of described node (2).
9. according to claim 7 or 8 described nodes, wherein said node (2) is for the CAN node of the CAN bus that provides in vehicle interior is provided.
10. node according to claim 9, wherein said delivery vehicle are aircraft.
11. a computer program has the program command that is used to carry out according to the described method of claim 1 to 6.
12. a data medium wherein stores computer program according to claim 11.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13326508P | 2008-06-27 | 2008-06-27 | |
| DE102008002738.3 | 2008-06-27 | ||
| US61/133,265 | 2008-06-27 | ||
| DE102008002738A DE102008002738B4 (en) | 2008-06-27 | 2008-06-27 | Method for detecting a faulty node |
| PCT/EP2009/058057 WO2009156512A1 (en) | 2008-06-27 | 2009-06-26 | Method for detecting a faulty node |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102077514A true CN102077514A (en) | 2011-05-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009801247070A Pending CN102077514A (en) | 2008-06-27 | 2009-06-26 | Method for detecting a faulty node |
Country Status (9)
| Country | Link |
|---|---|
| US (1) | US9634859B2 (en) |
| EP (1) | EP2301200B8 (en) |
| JP (1) | JP2011526110A (en) |
| CN (1) | CN102077514A (en) |
| BR (1) | BRPI0913886A2 (en) |
| CA (1) | CA2729489A1 (en) |
| DE (1) | DE102008002738B4 (en) |
| RU (1) | RU2010152949A (en) |
| WO (1) | WO2009156512A1 (en) |
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| CN103368786B (en) * | 2012-04-10 | 2016-03-30 | 珠海格力电器股份有限公司 | Method and device for testing controller local area network bus data |
| WO2014039032A1 (en) * | 2012-09-05 | 2014-03-13 | GM Global Technology Operations LLC | Method and apparatus for isolating a fault-active controller in a controller area network |
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| US9524222B2 (en) | 2013-09-16 | 2016-12-20 | GM Global Technology Operations LLC | Method and apparatus for fault detection in a controller area network |
| US9110951B2 (en) * | 2013-09-16 | 2015-08-18 | GM Global Technology Operations LLC | Method and apparatus for isolating a fault in a controller area network |
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- 2009-06-26 EP EP09769360.0A patent/EP2301200B8/en active Active
- 2009-06-26 BR BRPI0913886A patent/BRPI0913886A2/en not_active IP Right Cessation
- 2009-06-26 CA CA2729489A patent/CA2729489A1/en not_active Abandoned
- 2009-06-26 WO PCT/EP2009/058057 patent/WO2009156512A1/en active Application Filing
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| CN105871623A (en) * | 2016-05-18 | 2016-08-17 | 广州数控设备有限公司 | Occasional fault diagnosis method of field bus |
| CN105871623B (en) * | 2016-05-18 | 2019-10-11 | 广州数控设备有限公司 | A kind of sporadic method for diagnosing faults of fieldbus |
| CN111386540A (en) * | 2017-11-29 | 2020-07-07 | 三菱电机株式会社 | Maintenance planning system and maintenance planning method |
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| EP2301200A1 (en) | 2011-03-30 |
| CA2729489A1 (en) | 2009-12-30 |
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| DE102008002738A1 (en) | 2010-01-07 |
| EP2301200B8 (en) | 2016-08-17 |
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| US20110188371A1 (en) | 2011-08-04 |
| JP2011526110A (en) | 2011-09-29 |
| US9634859B2 (en) | 2017-04-25 |
| DE102008002738B4 (en) | 2010-03-11 |
| BRPI0913886A2 (en) | 2017-06-20 |
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